Classifications

• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B66—HOISTING; LIFTING; HAULING
  • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
  • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
  • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
  • B66F9/061—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks characterised by having a lifting jib
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
  • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
  • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for

Definitions

• the present invention relates to customer order picking facilities in the goods warehouses of the distribution or sales centers, as well as the materials used therein, in particular manipulators and load grippers suitable for the transport of parcels in the enclosure of the warehouse.
• Order preparation consists of collecting and transporting items ordered by the sales outlets of a commercial network or by buyers, in particular, to and from a warehouse where they are stored for delivery. in the case of mail order or e-commerce.
• an order-picking operator In current warehouses of the type in which the invention is of particular interest, an order-picking operator must gather, for example to a delivery truck, articles or parcels whose number and type are included in a list. order-specific order being prepared. Most of the time the operator has for this purpose a motorized handling equipment, such as an electric carriage for transporting pallets or other containers, on which it collects the items it takes in the respective storage locations, by choosing them by reference to said list.
• a motorized handling equipment such as an electric carriage for transporting pallets or other containers, on which it collects the items it takes in the respective storage locations, by choosing them by reference to said list.
• the journey through the warehouse to browse the locations may be imposed on the operator, with each list, in order to save time by establishing an appropriate order in the sequence of locations to serve which he will have to stop to pick up one or more items, in order to better coordinate the movements in the same warehouse of various operators having at the same time to prepare respective orders responding to different lists.
• the walk through the warehouse, the repeated climbs and descents of the machine, the catches of the parcels in the spaces, the movements with the package (s) in the arms, removal and storage of packages on the pallet of the machine, are risk factors for musculoskeletal disorders for operators.
• a first device shown in the European patent application 02 290 088 proposes to reduce the movements of operators by avoiding them up and down from their picking machine with a remote control or conventional voice maneuvering remote machine.
• This device makes it possible for the operator to reduce his displacements, in particular among load displacements, but he does not solve the problems posed by the handling of parcels, often bulky and heavy to carry.
• the invention provides in particular to use ergonomic manipulators with referrals efforts that can advantageously be shipped on motorized equipment moving through the picking installation.
• a suitable design of these manipulators, in conjunction with other advantageous provisions of the invention, particularly concerning the control tools made available to the operators and the tools for capturing parcels, makes it possible to ensure that the operators can manipulate the almost effortless loads, especially in lifting heavy loads, that they can manually adjust packages on pallets to ensure stability during transport, and that they can easily, with the same material, manipulate a percentage high types of packages that can coexist in the warehouses in which they operate.
• the invention facilitates access to the cells for storing goods by means of manipulators.
• the manipulators In the usual warehouses, the goods being arranged on several levels in each location along the traffic aisles, the manipulators must be able to engage under the rail which supports a higher level of reserve above the disposal cells in which perform the sampling of articles, so that these manipulators properly unload the operators of this arduous work.
• these rails can be placed at any height by the warehouse operator. In most cases, the lower edge of the first rail is about 2 meters above the ground to allow operators to pass underneath. But it happens that this smooth is fixed at lower heights (1 m for example), to increase the number of items per cell, which further complicates the ergonomics of the seizure of items or packages in these cells.
• the invention saves the operators all seizure, lifting, or carrying loads, including those that would run the risk of incidents or accidents musculoskeletal. On the other hand, it allows them to focus more on delicate maneuvers, especially those that require precision in the handling and positioning of items or attention in keeping with the order lists and the loading of pallets.
• the invention proposes to make available to each human operator order preparer working in a specific warehouse a mechanical manipulator with power control which is embedded on a mobile carriage through the warehouse.
• the manipulator drives a device for gripping the loads to be removed, advantageously of the pneumatic type, which is carried by a mast on which it is movable in sliding and rotation, at a low level, at the end of a deployable bracket at a high level. on a support column. All the maneuvers involving lifting the loads, to move them, to control their descent, are provided by the control means of the manipulator under the control of control means available to an operator operating the gripping apparatus. In the same position the operator can manually act on the gripper itself, in particular to rotate it in order to orient it accurately when gripping a package to be taken for transport.
• the invention does not exclude that the same manipulators are installed at a fixed station opposite storage locations, or that the assembly comprises manipulators made differently, especially with simplified gripping tools for transporting empty pallets .
• the manipulators according to the invention all the displacements of charges, or at least mainly all the Maneuvers carrying loads, especially those involving lifting packages or controlling their descent, are advantageously provided by means of the assisted control means of the manipulator's stem.
• the steering members may be in particular, in whole or in part, manual type organs which remain low level as the gripping tool, within reach of the operator during all the maneuvers involving the components of the manipulator.
• these drivers are located on the gripping device ensuring the seizure of the charges themselves, or in its immediate vicinity.
• a particularly convenient means is to arrange them on a handle mounted in solidarity with the gripper device. It is at this same handle that one can also preferably place the control members of the gripping and release functions of the loads implemented by the gripper.
• the manipulator is advantageously designed so that the deployment of the gallows takes place at a height high enough to always escape, on the one hand to the goods being loaded on the truck, on the other hand operators and other moving personnel around. It is also advantageously designed so that the maximum extension of the extended boom, provided under assisted control and therefore without significant effort of the operator, is sufficient to drive the gripper laterally relative to the carriage by bringing it up to to reach the cells of the neighboring site or locations, while the carriage remains stationary in the access aisle to the storage locations, or to drive it longitudinally in the various desirable positions above the platform receipt of loads to be transported, therefore controlled articles to be assembled on the carriage, to deposit the latter by releasing the gripping means of the gripping apparatus.
• the column supporting the assisted movement of the parcel gripping device is mounted on its carriage just behind a post piloting, that the operator can occupy to control the movements of the truck itself, in front of the platform for receiving articles and parcels to deliver.
• the latter is usually large enough to house two pallets one behind the other. It is placed here, at the simplest, under the conditions of implementation of the invention, wherein the carriage of transport loads through the warehouse is constituted by a motorized vehicle with local control of the current type.
• the stem consists of three elements articulated one on the other, the first being articulated on the support column, with articulations in relative rotation about vertical axes and angular deflections that can substantially reach but without exceeding them, values of the order of 130 degrees.
• the support arm of the load gripping tool allows the operator to bring the latter accurately to the place of each parcel to enter, passing under the smooth separating two superimposed levels of storage cells.
• the assisted control of the movements in height of the input tool which seems most necessary, while the adjustments in position in a horizontal plane involve less effort , that often the operator can even exercise himself, without external energy input and yet without too much risk of musculoskeletal disorders.
• the present invention provides for the use of pneumatic power to ensure the lifting of packages to be transported.
• the invention allows each operator working in a specific warehouse to act alone on loads of variable size and weight, and whose gripping surface may not be smooth.
• Such a pneumatic gripping device operating by suction effect, can in particular be mounted on a manual movement arm, such as the arm ending the stem of a manipulator, carrying the various control means of the device as a whole, and be associated therewith with dispensing means alternately ensuring its operation in suction mode to grab a load and hold it or in blowing mode to release it. It is advantageous to use the blowing mode also in preparation for the capture, to deploy above the load a crown of flexible material which is responsible for the suction effect when then it is waterproof on the load. suction mode.
• a charge transport transport manipulator preferably comprises a device for gripping by suction effect of a load to be transported in which a rigid structure supports an annular skirt extending smoothly all around the structure, a closing valve of a fluidic circuit opening outwards in the central part of the structure, valves opening said circuit on the underside of the skirt to deploy it in a crown beyond the grip of the rigid structure, as well as dispensing means for alternately ruling in said circuit an overpressure tending to close the valve and open the valves and a depression tending to open the valve and close the valves so as to grip the load by effect of empty in a volume closed on it by said skirt.
• the invention may furthermore meet the following characteristics, advantageously applicable separately or in any technically operative combination.
• the rigid structure of the gripping device is made in the form of a housing interposed on the fluid circuit which has on the underside a support grid for flaps of the valve which meet in a manner sealing the closure of the valve under the effect of an overpressure applying them to the grid, in the operating mode said blowing, and which deviate in opening the valve under the effect of a depression in the mode of operation said in suction.
• the housing has on the upper face openings constituting said flaps which open on the periphery and / or preferably on the top of said housing and which are closable by a central portion of the annular skirt internal to the crown loosely deployable.
• the dispensing means are constituted by a slide valve leaving three air circulation paths communicating the interior of said housing with an atmospheric air compressor alternately on the inlet side and on the discharge side.
• the gripping device is mounted on a manual movement arm carrying means for controlling the associated distributor means to ensure that it operates alternately under overpressure when it is lowered. to a load to be transported and under vacuum to seize the load and lift it.
• a carrier arm of the gripping device may advantageously be part of a power-assisted manipulator involving in particular slave lifting means of said arm along a mast mounted at the end of an articulated stem.
• FIG. 1 represents a fraction of a picking installation in which an operator is regrouping the parcels of an order list by using the preparation machine 1 which is assigned to him;
• FIG. 2 shows better the constitution of the machine, considered alone in a schematic perspective view
• FIG. 3 illustrates an alternative embodiment of the machine of FIG. 2;
• FIG. 4 schematically shows an essential part of a load transport apparatus according to the invention at its gripping device;
• FIG 5 better illustrates the constitution of the gripping device, considered alone in an exploded perspective view;
• the preparation machine assigned to an operator 9 ( Figure 1) is made based on a motorized freight transport trolley through the warehouse which is perfectly conventional in that it is more precisely an electric motor, which facilitates the conditions of its control, and in that it presents a reception platform loads 151 disposed at the rear of a cockpit 152, extending along the length of two successive pallets 12, as can be seen in the figures.
• These pallets are called pallets "client” insofar as we group on the various packages lists of orders for delivery to a specific customer. They constitute the receiving supports of the packages or supports for handling the loads to be transported.
• the invention leads to equip this machine so as to replace the handling of loads up to several kilograms by the operation of an ergonomic manipulator device embedded on the carriage which requires only a pressure of a few grams, thanks to a mechanism of Assisted power assistance.
• the manipulator mounted on the vehicle 1 is constituted by a frame which is essentially made in the form of a vertical column 3 supporting at its top a deformable bracket 4.
• the column 3 is located just behind the cockpit 151, between the and the platform 152.
• the bracket 4 is made by assembling rigid elements which are connected to each other by articulation about vertical axes so as to constitute a deployable assembly capable of expanding horizontally from the column 3 and extending orientation around this column.
• the first 41 of the articulated elements of the bracket 4 runs from a yoke in which is mounted a hinge pin 51 the binder to the column 3 at its summit to a yoke through which it is linked to hinge (axis 52) a similar clevis ending the second 42 articulated elements of the deployable gallows.
• the two elements are thus movable in the same horizontal plane, at the top of the column 3, which overhangs the pallets customer 12 and their loading.
• the second element 42 supports a vertical mast 7 which materializes a third axis of rotation of the elements of the deployable bracket.
• This vertical mast 7 serves as a guide to a movable arm 8 which slides above.
• the arm 8 whose vertical mobility is provided by a traction cable 87 driven by a torque motor mounted on the stem, constitutes a third and last articulated element of the stem 4.
• it is provided with a slide 86 enabling it in addition to its vertical mobility, it can rotate freely around the mast 7.
• the on-board manipulator of the machine 1 comprises a tool for capturing the loads to be transported.
• this input tool is constituted by a pneumatic operating gripper 11 which will be described later in the details of its practical implementation.
• the arm 8 is actually double in the case of particular application considered.
• the arm 8 supports a handful of maneuver 15, by means of which the operator controls all the movements of the gripper tool.
• a special member of the operating handle 15 makes it possible to control the catch of the packages by closing the gripping tool 11 as well as releasing it to release the gripped load when, for example, the load was brought into position to be deposited on the corresponding customer pallet waiting for it on the platform of the carriage.
• the same arm 8 still carries a remote control device for controlling the motorized carriage in its evolutions in the aisles of the warehouse.
• This is a remote control device, since the control members, manually operated, remain located, not in the cockpit but nevertheless on the machine at the level of his manipulator. A true remote control device may seem preferable in other situations. It is then located on the operator personally and the truck driving orders are transmitted wirelessly to its motorized means, for remote control of carriage movements.
• the figure illustrates the fact that the first two articulated elements of the bracket 4 remain in height, out of reach of the operator.
• the articulated assembly allows a lateral extension with sufficient clearance so that the mast 7 can be placed in line with the carrier structure formed of rails 20 and ladders 23 at any place necessary along the location to be served.
• the arm 8 terminating the gallows is lower cons, because it remains in operation at a lower level than the smooth 20 which separates in the location the lower cell 18 of an upper reserve cell 19. It can be manipulated there sliding on the arm 7 and rotation on the axis thereof to achieve with the gripper tool 1 1 any necessary position inside the storage cell 18, and its length is sufficient to go if necessary at the bottom of this cell. As long as there is no need to lift a parcel seized, a motorized assistance is not necessary for these maneuvers.
• the operator has the necessary information for order picking operations that he has to perform in various forms. Examples include instructions printed on a sheet of paper, labels to be affixed to parcels, a visual instruction on a terminal screen or a voice instruction. He goes to each address, either by mounting on the picking machine to drive it in a traditional way, or by operating the remote control located on the gripping device or the remote control placed on the operator (as described in the patent texts already mentioned). He maneuvers the gripping apparatus so as to take the appropriate package with the gripping tool 11 and moves it from the storage pallet into the cell 18 to the corresponding customer pallet on the platform. form 12.
• the handling of the package with the gripping tool 11 allows, thanks to a reader advantageously integrated therein, to read the number of the package to constitute an indicative electronic list of packages constituting the contents of the customer pallet 151 and / or 152.
• This reading can also be done by the operator using a portable terminal, ideally placed on his wrist, in order to read the bar code of the package or cell slot 18 with the hands free.
• the operator checks the command line when he has filed the last package of the line on the pallet client if he has a checklist; otherwise, he takes a label on the label reel and glues it on the package deposited on the customer pallet.
• the manipulator advantageously has adjustable stops limiting the movements of the stem from the position of the carriage of the picking machine 1 in the aisle, so as to avoid shocks against the supporting structure of the storage cells and their pallets. It is also designed in such a way that the stem always avoids hitting any part of the machine and the customer pallets being built on it.
• the manipulator is further provided with brakes for the rest position or positions allowing the movements of the carriage that supports it in driver-worn mode.
• the manipulator is completed by a tool for gripping unloaded pallets for transporting, for example, empty pallets to be placed on the platform of the machine to constitute the handling supports receiving each the different parcels of the same command to be grouped on it.
• a tool is advantageously constituted by a self-locking hook, known in itself, which is suspended at the end of the terminal arm of the articulated stem.
• the presence of such a hook which is automatically jammed between the boards of an empty pallet when the carrying arm is lowered to bring it to their level and then reassembled, is combined with that of a tool of pneumatic seizure of packages mounted on the same arm of the deployable gallows as has been described.
• the arm then has two strands respectively carrying each of the two gripping tools. It is then desirable that the one who carries the catch hook empty pallets is shorter than that of the parcel gripper, so as to place the hook, when inactive, in a retracted retracted position behind the grab gripper of parcels and the parcels handled.
• FIG. 3 already shows an embodiment of a manipulator on board a picking machine in which the mast 7 is reduced to a part 24 on which the arm 8 is rotatably mounted at the end of the second element of the bracket 4.
• the arm of the gripper thus remains permanently in the same horizontal plane in height as the rest of the bracket.
• the fork 22 is freely suspended at the end of a flexible rope 21 which acts as a power-assisted traction cable in the movements of the fork in the vertical direction.
• the gripper device 11 itself is mounted at the end of a main branch of the arm 8, itself formed of two tubes mounted telescopically sliding on one another 8a and 8b, while the control device 15 is mounted at the end of a secondary branch 1 10, constituted by a rod with rotary adjustment on the main branch at the other end.
• a secondary branch 1 10 constituted by a rod with rotary adjustment on the main branch at the other end.
• the arm 8 is the end element of the articulated stem of the manipulator on motorized trolley of Figures 1 and 2.
• the arm 8 is slidably and rotatably mounted on a vertical mast of the manipulator, so as to be disposed at a low level with respect to a high level where are the other elements rotating on one another of the articulated stem connecting this mast to a fixed pole on the carriage.
• FIG. 4 shows other piloting members which are also arranged within easy reach of the operator, among which a lever for locking the position of the secondary branch on the main branch of the arm 8 and control buttons of the pressurized air dispenser determining the operation of the gripping device 11 in its functions of capturing and releasing the loads to be transported.
• the dispenser is disposed on the manipulator at the end of the arm 8 located on the vertical mast. It is powered by a compressor air collecting air in the surrounding atmosphere and it is connected to the gripper itself by a fluid circuit that passes through the telescopic tubes 8a and 8b of the carrier arm.
• the assembly makes it possible to put this circuit, at the level of the gripper, in depression or in excess pressure with respect to the surrounding atmosphere, according to the position that the operator gives to the control buttons of the control members 15.
• the gripping device 1 1 makes it possible to capture loads, such as the package 101 of FIGS. 6 and 7, by suction effect, and to hold them suspended on the manipulator arm during their transport. It comprises for this a flexible membrane mounted on a rigid support structure. In the particular case considered here, the latter is made in the form of a housing 103, of rectangular section, whose walls mark the contours of a parallelepiped cavity.
• the flexible membrane is made of rubber or a similar elastomeric material, impermeable to air. It has the shape of a bell that overcomes the housing 103 protruding from it all around it.
• a central portion 112 which is normally pressed against the upper face of the casing 103, and a peripheral ring that can be flexibly deployed beyond the casing, or annular skirt 104, are thus distinguished.
• the material of the skirt 104 is pierced at its center with an orifice 142 at which it is tightly sealed around a bent tubular connector 106 which terminates the arm 8.
• the assembly is provided by a ring 45 through an orifice 132 arranged in the wall of the upper face of the housing 103, so that the connector 106 puts in communication the internal circuit of the support arm 8 and the internal cavity of the housing 103.
• the flywheel 105 is also mounted on the ring 45. It is permanently accessible around the axis of the system above the casing and the skirt 104.
• Figure 5 details the composition of the gripping device in an exploded perspective view. It reveals that the rectangular housing 103 has a set of orifices 131 pierced in the wall of its upper face, which act as valves to allow the flow of ambient air through this wall.
• the wall limiting the internal cavity of the housing in its lower face is more completely perforated. Indeed, it is constituted in practice by a grid 109 covering its entire surface.
• the gate 109 supports a membrane 108, consisting of two flexible flaps 108a and 108b which are sensitive to the flow of air in the housing and which behave differently depending on whether the air in the housing is overpressurized in the system blowing mode. or that it is in depression in aspiration mode.
• the flaps 108a and 108b act as a valve which tends to close the fluidic circuit and which opens when the two flaps 108a and 108b deviate from one another by inclining towards the inside of the housing 103.
• the two flaps 108a and 108b of the valve are fixed on the opposite edges of the lower face of the housing 103. They deviate when the internal cavity of the gripping system is in depression, which corresponds to the suction mode. They are pressed against the grid 109 and meet sealingly when the gripping system is overpressured in the blowing mode.
• Figure 6 illustrates a section of the gripper 11 in the blowing mode.
• the flaps 108a and 108b of the valve 108 meet sealingly and are pressed against the gate 109 thus closing the fluid circuit of this side of the housing.
• the orifices 131 which are present on the upper face of the housing 103 are at rest closed by the central portion of the skirt 104. They form a system of valves which under the effect of the overpressure are found in the open position. The air escaping through them from the housing cavity 103 lifts the skirt 104 annularly around the tubular duct 45 by deploying it.
• Figure 7 illustrates a section of the gripping device 11 in suction mode.
• the flaps 108a and 108b of the valve 108 deviate in opening from said valve 108, thus opening the fluid circuit in the entire volume under the judge 104.
• the orifices 131 present on the rigid structure 103 are closed by the central portion of the skirt 104 and this envelops the sealed assembly ⁇
• the operator operates the handle of the arm 8 in order to bring the gripping system as close as possible to the load 101 to be gripped. Arrived above the load it begins by pressing a button of the control members 15 which puts the dispenser in blowing mode.
• the air sent into the duct 1 1 1 arrives in the housing 103 and plates the flaps 108a and 108b on the grid 109.
• the skirt 104 is raised and disengages the orifices of the valve system (orifices 131), which has the consequence to circulate a flow of air on the underside of the skirt 104. This air flow is sufficient to allow the deployment of the skirt 104 and facilitate its adaptation to the package 1 to enter.
• the operator brings the device even closer to the package, until the grid 109 is placed on the load. It then actuates another button of the control members to put the distributor in suction mode.
• the distributor sucks the air, the skirt 104 closes the orifices 131, and under the effect of the depression created the flaps 108a and 108b deviate from the grill 109 and let in the outside air.
• the skirt 104 limits a closed volume between the cavity of the housing 103 and the load 101 which is evacuated.
• the load 101 is thus grasped, the operator maneuvering the arm 8 through the handle 107 to lift the load 101, transport and deposit in its new location.
• the operator wants to release the load 101 he presses the button of the control member to activate the dispenser in blowing mode.
• the air flow comes to press the flaps 108a and 108b of the sealing membrane on the grid 109 and interrupts the suction flow, thus releasing the charge 101.
• the valves 131 open, the skirt 104 unfolds again.
• FIGS. 8 and 9 illustrate, in section, a gate valve constituting a distributor 150 which makes it possible to alternately reign in the fluid circuit supplying the housing 103 a overpressure and depression.
• the dispenser has a set of two coaxial tubes.
• An inner tube 121 is closed on both sides by two disks January 13 and 133 provided with seals in contact with the outer tube 120. The latter is open on both sides.
• the inner tube 121 further has on its outer surface two rings 127 which close the annular gap between the two tubes on both sides of an annular chamber.
• the inner tube 121 is movable under the control of a jack 125. It is pierced with diametrically opposite two diametrically opposite lights 128 which move with it in front of the mouths 134 of three channels 122, 123 and 124 opening through the outer wall of the outer tube.
• These channels 122, 123 and 124 are airflow circulation paths with different functions, the first 122 serving to admit air under pressure (it also has a lateral exhaust port 126 to the atmosphere external), the second 123 serving to return the air flow (in combination with orifices 129 for communication with the outside pierced in the outer tube) and the third 124 is permanently connected to the housing of the gripping device 11.
• the channel 124 leading to the housing of the gripping device is put into communication with the pressurized air inlet duct 122, which causes an overpressure in the fluidic circuit and operation in blowing mode.
• the jack pushes the inner tube to the left of Figure 9
• the channel 124 is brought into communication with the return channel 123 and the air is discharged from there of the housing, which causes the mode of operation in suction.
• FIGs 10 and 11 illustrate another embodiment of the apparatus according to the invention, wherein the pneumatic gripping device 1 1 as described above is completed by a fork 130, which is mounted retractable on the housing 103.
• This fork is provided for alternative use as a gripping tool when in the extended position illustrated in Figure 1 1. It is hinged on one side of the rigid housing. When not in use, flip it over the case as shown on the 10, so that it does not interfere with the operation of the pneumatic device and its annular skirt.

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• Engineering & Computer Science (AREA)
• Transportation (AREA)
• Structural Engineering (AREA)
• Civil Engineering (AREA)
• Life Sciences & Earth Sciences (AREA)
• Geology (AREA)
• Mechanical Engineering (AREA)
• Manipulator (AREA)
• Warehouses Or Storage Devices (AREA)

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• 2007
  • 2007-03-15 EP EP07733989A patent/EP2024267A2/de not_active Withdrawn
  • 2007-03-15 WO PCT/IB2007/000644 patent/WO2007105095A2/fr not_active Ceased

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